Vehicle and vehicle step apparatus with multiple drive motors

ABSTRACT

A vehicle step apparatus comprises a first extending and retracting device comprising a first mounting bracket, a first step bracket, and a first arm assembly configured to drive the first step bracket to move between a first extended position and a first retracted position; a second extending and retracting device comprising a second mounting bracket, a second step bracket, and a second arm assembly configured to drive the second step bracket to move between a second extended position and a second retracted position; a step mounted on the first and second step bracket; a first permanent magnet direct current motor mounted on the first mounting bracket and coupled with the first arm assembly to drive the first arm assembly; and a second permanent magnet direct current motor mounted on the second mounting bracket and coupled with the second arm assembly to drive the second arm assembly.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of and claims priority to and all benefits of U.S. patent application Ser. No. 16/826,094, filed Mar. 20, 2020, which is a continuation of and claims priority to and all benefits of U.S. patent application Ser. No. 16/655,149, filed Oct. 16, 2019, now U.S. Pat. No. 10,618,472 B2, which is a continuation-in-part of and claims priority to and all benefits of U.S. patent application Ser. No. 15/200,940, filed Jul. 1, 2016, now U.S. Pat. No. 10,479,278, which claims priority to and all benefits of Chinese Patent Application 201510731518.7 filed on Oct. 30, 2015, Chinese Patent Application 201520860004.7 filed on Oct. 30, 2015, Chinese Patent Application 201510468824.6 filed on Aug. 4, 2015, Chinese Patent Application 201520576675.0 filed on Aug. 4, 2015, Chinese Patent Application 201510469324.4 filed on Aug. 4, 2015, and Chinese Patent Application 201520580148.7 filed on Aug. 4, 2015, all of which are hereby expressly incorporated herein by reference in their entirety.

TECHNICAL FIELD

Embodiments of the present technology generally relate to the field of vehicle accessories, and more particularly, to a vehicle and a vehicle step apparatus with multiple drive motors.

BACKGROUND

In relative art, a vehicle step apparatus of a vehicle uses a driving mechanism (with motor) and a driven mechanism (without motor) to drive a step to move. That is to say, the vehicle step apparatus uses one motor to drive the step to move. Thus, all of load is borne by the one motor, such that the load of the one motor is very high. Thus, a requirement for performance of the one motor is very high, a manufacturing difficulty, a manufacturing cost and a failure rate of the one motor are increased and a working life of the one motor is shortened.

Moreover, because the driving mechanism has a function of self-lock and the driven mechanism does not have a function of self-lock, the driven mechanism is easy to droop, especially when the step is very long.

SUMMARY

The present technology seeks to solve at least one of the technical problems existing in the related art. Accordingly, a first aspect of the present technology provides a vehicle step apparatus.

A second aspect of the present technology provides a vehicle, which includes the above vehicle step apparatus.

Embodiments of a first aspect of the present technology provide a vehicle step apparatus, including: a first extending and retracting device comprising a first mounting bracket, a first step bracket, and a first arm assembly coupled between the first mounting bracket and the first step bracket and configured to drive the first step bracket to move between a first extended position and a first retracted position; a second extending and retracting device comprising a second mounting bracket, a second step bracket, and a second arm assembly coupled between the second mounting bracket and the second step bracket and configured to drive the second step bracket to move between a second extended position and a second retracted position; a step mounted on the first step bracket and the second step bracket; a first permanent magnet direct current motor mounted on the first mounting bracket and coupled with the first arm assembly to drive the first arm assembly; and a second permanent magnet direct current motor mounted on the second mounting bracket and coupled with the second arm assembly to drive the second arm assembly.

With the vehicle step apparatus according to embodiments of the first aspect of the present technology, the vehicle step apparatus is low in manufacturing cost, low in failure rate, and long in working life, has good synchronization, and drooping of the vehicle step apparatus can be prevented.

Embodiments of a second aspect of the present technology provide a vehicle, including: a first extending and retracting device comprising a first mounting bracket, a first step bracket, and a first arm assembly coupled between the first mounting bracket and the first step bracket and configured to drive the first step bracket to move between a first extended position and a first retracted position; a second extending and retracting device comprising a second mounting bracket, a second step bracket, and a second arm assembly coupled between the second mounting bracket and the second step bracket and configured to drive the second step bracket to move between a second extended position and a second retracted position; a step mounted on the first step bracket and the second step bracket; a first permanent magnet direct current motor mounted on the first mounting bracket and having a first motor shaft coupled with the first arm assembly; and a second permanent magnet direct current motor mounted on the second mounting bracket and having a second motor shaft coupled with the second arm assembly.

The vehicle is low in manufacturing cost, low in failure rate, and long in working life.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a partial exploded view of a vehicle according to an example embodiment of the present technology;

FIG. 2 is a schematic view of a first extending and retracting device and a second extending and retracting device of a vehicle step apparatus according to an example embodiment of the present technology, in which both the first extending and retracting device and the second extending and retracting device are in the form of four-link mechanism;

FIG. 3 is a schematic view of a first extending and retracting device and a second extending and retracting device of a vehicle step apparatus according to an example embodiment of the present technology, in which both the first extending and retracting device and the second extending and retracting device are in the form of five-link mechanism;

FIG. 4 is a schematic view of a first extending and retracting device and a second extending and retracting device of a vehicle step apparatus according to an example embodiment of the present technology, in which both the first extending and retracting device and the second extending and retracting device are in the form of six-link mechanism;

FIG. 5 is a schematic view of a vehicle step apparatus according to an example embodiment of the present technology;

FIG. 6 is an exploded view of a vehicle step apparatus according to an example embodiment of the present technology;

FIG. 7 is a partial exploded view of a vehicle step apparatus according to an example embodiment of the present technology;

FIG. 8 is a partial exploded view of a vehicle step apparatus according to an example embodiment of the present technology.

FIG. 9 is a schematic view of a vehicle step apparatus according to an example embodiment of the present technology.

FIG. 10 is a schematic diagram of a self-locking motor assembly according to an example embodiment of the present technology.

FIG. 11 is an exploded view of a self-locking motor assembly according to an example embodiment of the present technology.

FIG. 12 is a partial sectional view of a self-locking motor assembly according to an example embodiment of the present technology, which shows the interface between a worm reduction mechanism and a worm gear.

FIG. 13 is another partial sectional view of a self-locking motor assembly according to an example embodiment of the present technology, which shows the interface between a worm reduction mechanism and a worm gear.

DETAILED DESCRIPTION

Reference will be made in detail to embodiments of the present technology. Embodiments of the present technology will be shown in drawings, in which the same or similar members and the members having same or similar functions are denoted by like reference numerals throughout the descriptions. The embodiments described herein according to drawings are explanatory and illustrative, not construed to limit the present technology.

The following description provides a plurality of embodiments or examples configured to achieve different structures of the present technology. In order to simplify the publication of the present technology, components and dispositions of the particular embodiment are described in the following, which are only explanatory and not construed to limit the present technology. In addition, the present technology may repeat the reference number and/or letter in different embodiments for the purpose of simplicity and clarity, and the repetition does not indicate the relationship of the plurality of embodiments and/or dispositions. Moreover, in description of the embodiments, the structure of the second characteristic “above” the first characteristic may include an embodiment formed by the first and second characteristic contacted directly, and also may include another embodiment formed between the first and the second characteristic, in which the first characteristic and the second characteristic may not contact directly.

In the description of the present technology, unless specified or limitation otherwise, it should be noted that, terms “mounted,” “coupled,” “coupled to,” and “coupled with” may be understood broadly, such as electronic connection or mechanical connection, inner communication between two members, direct connection or indirect connection via intermediary. Those having ordinary skills in the art should understand the specific meanings in the present technology according to specific situations.

At present, the vehicle industry is increasingly developing, and vehicle design is becoming more and more detailed and humanized. For some vehicles with high chassis, it is quite difficult for passengers to get on and off, especially for the elderly, the weak, the sick and pregnant passengers, who have difficulty getting on and off high chassis vehicles by themselves.

In order to address these challenges and problems, conventional methods in existing applications is to add a step (also referred to as a pedal or running board) to each passenger entry side of the vehicle. Some examples include a fixed (non-moveable) pedal, whereas other conventional methods include providing a moveable pedal, such as a manually retractable pedal or an electrically retractable pedal. Today, mainstream electric retractable steps in the market are driven by a one-sided single motor. Yet, a single drive motor requires high motor performance, which results in high manufacturing difficulty and high cost.

In some aspects, a vehicle step apparatus and a vehicle having a vehicle step apparatus in accordance with the disclosed embodiments are described. A vehicle 1000 according to embodiments of the present technology will be described with reference to the drawings.

As shown in FIGS. 1-6, the vehicle 1000 according to embodiments of the present technology includes a chassis 40 and a vehicle step apparatus 100. The vehicle step apparatus 100 includes a first extending and retracting device 10 a, a second extending and retracting device 10 b, a step 20, a first permanent magnet direct current motor 30 a and a second permanent magnet direct current motor 30 b.

The first extending and retracting device 10 a includes a first mounting bracket 11 a, a first step bracket 12 a and a first arm assembly 13 a. The first arm assembly 13 a is coupled between the first mounting bracket 11 a and the first step bracket 12 a and configured to drive the first step bracket 12 a to move between a first extended position and a first retracted position. The first mounting bracket 11 a is mounted on the chassis 40.

The second extending and retracting device 10 b includes a second mounting bracket 11 b, a second step bracket 12 b and a second arm assembly 13 b. The second arm assembly 13 b is coupled between the second mounting bracket 11 b and the second step bracket 12 b and configured to drive the second step bracket 12 b to move between a second extended position and a second retracted position. The second mounting bracket 11 b is mounted on the chassis 40.

The step 20 is mounted on the first step bracket 12 a and the second step bracket 12 b. The first permanent magnet direct current motor 30 a is mounted on the first mounting bracket 11 a and coupled with the first arm assembly 13 a to drive the first arm assembly 13 a. The second permanent magnet direct current motor 30 b is mounted on the second mounting bracket 11 b and coupled with the second arm assembly 13 b to drive the second arm assembly 13 b.

In some embodiments, the first permanent magnet direct current motor 30 a has a first motor shaft 32 a coupled with the first arm assembly 13 a. The second permanent magnet direct current motor 30 b has a second motor shaft 32 b coupled with the second arm assembly 13 b.

Thus, the first step bracket 12 a is driven to move between the first extended position and the first retracted position by the first permanent magnet direct current motor 30 a via the first arm assembly 13 a, and the second step bracket 12 b is driven to move between the second extended position and the second retracted position by the second permanent magnet direct current motor 30 b via the second arm assembly 13 b. In other words, the vehicle 1000 uses the first permanent magnet direct current motor 30 a and the second permanent magnet direct current motor 30 b to drive the step 20 to extend and retract.

The vehicle 1000 uses two motors, i.e. the first permanent magnet direct current motor 30 a and the second permanent magnet direct current motor 30 b, to drive the step 20 to extend and retract, thus a load applied to the vehicle step apparatus 100 is distributed to the first permanent magnet direct current motor 30 a and the second permanent magnet direct current motor 30 b.

Thus, comparing to the vehicle step apparatus 100 employing only one motor, the load of the first permanent magnet direct current motor 30 a is decreased so as to decrease a failure rate of the first permanent magnet direct current motor 30 a, and the load of the second permanent magnet direct current motor 30 b is decreased so as to decrease a failure rate of the second permanent magnet direct current motor 30 b, thus prolonging a working life of the first permanent magnet direct current motor 30 a and a working life of the second permanent magnet direct current motor 30 b.

Because the load of the first permanent magnet direct current motor 30 a is low, a requirement for performance of the first permanent magnet direct current motor 30 a is decreased so as to lower a manufacturing difficulty and a manufacturing cost of the first permanent magnet direct current motor 30 a.

Similarly, the load of the second permanent magnet direct current motor 30 b is low, a requirement for performance of the second permanent magnet direct current motor 30 b is decreased so as to lower a manufacturing difficulty and a manufacturing cost of the second permanent magnet direct current motor 30 b.

Because both the first permanent magnet direct current motor 30 a and the second permanent magnet direct current motor 30 b have a function of self-lock, even the step 20 is very long, both the first permanent magnet direct current motor 30 a and the second permanent magnet direct current motor 30 b can be prevented from drooping.

Additionally, for the first permanent magnet direct current motor 30 a and the second permanent magnet direct current motor 30 b, a rotational speed is related to a load. Thus, a rotational speed of a motor will be decreased due to an increasing load, and a rotational speed of a motor will be increased due to a decreasing load.

Thus, a rotational speed of the first permanent magnet direct current motor 30 a is dynamically balanced with a rotational speed of the second permanent magnet direct current motor 30 b, so as to realize a synchronized motion of the first extending and retracting device 10 a and the second extending and retracting device 10 b.

Thus, the vehicle step apparatus 100 according to embodiments of the present technology is low in manufacturing cost, low in failure rate, long in working life, and has good synchronization, and the vehicle step apparatus 100 can be prevented from drooping.

As shown in FIG. 1, in some embodiments, the vehicle 1000 includes the chassis 40 and the vehicle step apparatus 100. The vehicle step apparatus 100 includes the first extending and retracting device 10 a, the second extending and retracting device 10 b, the step 20, the first permanent magnet direct current motor 30 a and the second permanent magnet direct current motor 30 b.

The first extending and retracting device 10 a includes the first mounting bracket 11 a, the first step bracket 12 a and the first arm assembly 13 a. The first mounting bracket 11 a is mounted on the chassis 40. The first step bracket 12 a is used to mount the step 20. The first arm assembly 13 a is coupled between the first mounting bracket 11 a and the first step bracket 12 a and configured to drive the first step bracket 12 a to move between the first extended position and the first retracted position.

The second extending and retracting device 10 b includes the second mounting bracket 11 b, the second step bracket 12 b and the second arm assembly 13 b. The second mounting bracket 11 b is mounted on the chassis 40. The second step bracket 12 b is used to mount the step 20. The second arm assembly 13 b is coupled between the second mounting bracket 11 b and the second step bracket 12 b and configured to drive the second step bracket 12 b to move between the second extended position and the second retracted position.

Both the first mounting bracket 11 a and the second mounting bracket 11 b may be mounted on the chassis 40 in well-known manner. The step 20 is mounted on the first step bracket 12 a and the second step bracket 12 b by known means.

As shown in FIG. 1, the first arm assembly 13 a includes a plurality of arms pivotally connected together. At least one arm of the first arm assembly 13 a is coupled with the first mounting bracket 11 a, and at least one arm of the first arm assembly 13 a is coupled with the first step bracket 12 a.

As shown in FIG. 1, the second arm assembly 13 b includes a plurality of arms pivotally connected together. At least one arm of the second arm assembly 13 b is coupled with the second mounting bracket 11 b, and at least one arm of the second arm assembly 13 b is coupled with the second step bracket 12 b.

The first permanent magnet direct current motor 30 a is mounted on the first mounting bracket 11 a, and the second permanent magnet direct current motor 30 b is mounted on the second mounting bracket 11 b. As shown in FIG. 5, the first permanent magnet direct current motor 30 a has the first motor shaft 32 a, and the second permanent magnet direct current motor 30 b has the second motor shaft 32 b. The first motor shaft 32 a of the first permanent magnet direct current motor 30 a is coupled with an arm of the first arm assembly 13 a, and the second motor shaft 32 b of the second permanent magnet direct current motor 30 b is coupled with an arm of the second arm assembly 13 b.

As shown in FIG. 6, the vehicle step apparatus 100 further includes a first connection shaft 80 a and a second connection shaft 80 b. The first connection shaft 80 a is coupled with both the first motor shaft 32 a and the first arm assembly 13 a, and the second connection shaft 80 b is coupled with the second motor shaft 32 b and the second arm assembly 13 b. In other words, first motor shaft 32 a is coupled with the first arm assembly 13 a via a first connection shaft 80 a, and the second motor shaft 32 b is coupled with the second arm assembly 13 b via a second connection shaft 80 b.

Alternatively, the first extending and retracting device 10 a is configured in the form of four-link mechanism 10 al, five-link mechanism 10 a 2 or six-link mechanism 10 a 3, and the second extending and retracting device 10 b is configured in the form of the four-link mechanism 10 al, five-link mechanism 10 a 2 or six-link mechanism 10 a 3.

It can be understood that a structure of the second extending and retracting device 10 b may be the same as that of the first extending and retracting device 10 a. Thus, the first extending and retracting device 10 a will be described below, and the second extending and retracting device 10 b will be omitted here.

In an embodiment shown in FIG. 2, the first extending and retracting device 10 a is in the form of four-link mechanism 10 al, and includes the first mounting bracket 11 a, the first step bracket 12 a and the first arm assembly 13 a. The first arm assembly 13 a is coupled between the first mounting bracket 11 a and the first step bracket 12 a, and includes a first arm 131 and a second arm 132.

A first end (an upper end) of the first arm 131 is pivotally coupled with the first mounting bracket 11 a via a first connection pin 136, and a second end (a lower end) of the first arm 131 is pivotally coupled with the first step bracket 12 a via a second connection pin 137. A first end (an upper end) of the second arm 132 is pivotally coupled with the first mounting bracket 11 a via a third connection pin 138, and a second end (a lower end) of the second arm 132 is pivotally coupled with the first step bracket 12 a via a fourth connection pin 139.

The first motor shaft 32 a of the first permanent magnet direct current motor 30 a is coupled with one of the first arm 131 and the second arm 132. Thus, the first motor shaft 32 a drives the one of the first arm 131 and the second arm 132 to rotate, thereby drives the first step bracket 12 a to extend and retract.

In an embodiment shown in FIG. 3, the first extending and retracting device 10 a is in the form of five-link mechanism 10 a 2, and includes the first mounting bracket 11 a, the first step bracket 12 a and the first arm assembly 13 a. The first arm assembly 13 a is coupled between the first mounting bracket 11 a and the first step bracket 12 a, and includes a first arm 131, a second arm 132 and a third arm 133.

A first end (an upper end) of the first arm 131 is pivotally coupled with the first mounting bracket 11 a via a first connection pin 136, and a second end (a lower end) of the first arm 131 is pivotally coupled with the first step bracket 12 a via a second connection pin 137. A first end (an upper end) of the second arm 132 is pivotally coupled with the first mounting bracket 11 a via a third connection pin 138, and a second end (a lower end) of the second arm 132 is pivotally coupled with a first end (an upper end) of the third arm 133 via a fifth connection pin 140. A second end (a lower end) of the third arm 133 is pivotally coupled with the first step bracket 12 a via a fourth connection pin 139.

The first motor shaft 32 a of the first permanent magnet direct current motor 30 a is coupled with one of the first arm 131 and the second arm 132. Thus, the first motor shaft 32 a drives the one of the first arm 131 and the second arm 132 to rotate, thereby drives the first step bracket 12 a to extend and retract.

In an embodiment shown in FIG. 4, the first extending and retracting device 10 a is in the form of six-link mechanism 10 a 3, and includes the first mounting bracket 11 a, the first step bracket 12 a and the first arm assembly 13 a. The first arm assembly 13 a is coupled between the first mounting bracket 11 a and the first step bracket 12 a, and includes a first arm 131, a second arm 132, a third arm 133 and a fourth arm 134.

A first end (an upper end) of the first arm 131 is pivotally coupled with the first mounting bracket 11 a via a first connection pin 136, and a second end (a lower end) of the first arm 131 is pivotally coupled with the first step bracket 12 a via a second connection pin 137. A first end (an upper end) of the second arm 132 is pivotally coupled with the first mounting bracket 11 a via a third connection pin 138.

A first end (an upper end) of the third arm 133 is pivotally coupled with a second end (a lower end) of the second arm 132 via a fifth connection pin 140, and a second end (a lower end) of the third arm 133 is pivotally coupled with the first step bracket 12 a via a fourth connection pin 139. A first end of the fourth arm 134 is pivotally coupled with both of the second end of the second arm 132 and the first end of the third arm 133, and a second end of the fourth arm 134 is pivotally coupled with a middle portion of the first arm 131 via a sixth connection pin 141.

The first motor shaft 32 a of the first permanent magnet direct current motor 30 a is coupled with one of the first arm 131 and the second arm 132. Thus, the first motor shaft 32 a drives the one of the first arm 131 and the second arm 132 to rotate, thereby drives the first step bracket 12 a to extend and retract.

The vehicle step apparatus according to other embodiments of the present technology will be described with reference to FIG. 7 and FIG. 8. The difference between the vehicle step apparatus according to other embodiments and the above-mentioned vehicle step apparatus 100 will be described in detail.

In some other embodiments, the vehicle step apparatus 100 includes the first extending and retracting device 10 a, the second extending and retracting device 10 b, the step 20, the first permanent magnet direct current motor 30 a, the second permanent magnet direct current motor 30 b, a first elastic member 50 a and a second elastic member 50 b.

The first elastic member 50 a is configured to elastically deform so as to store energy when the first permanent magnet direct current motor 30 a drives the first step bracket 12 a to move towards the first extended position, and to release energy so as to assist the first permanent magnet direct current motor 30 a to drive the first extending and retracting device 10 a, i.e., to drive the first step bracket 12 a, when the first permanent magnet direct current motor 30 a drives the first step bracket 12 a to move towards the first retracted position.

The second elastic member 50 b is configured to elastically deform so as to store energy when the second permanent magnet direct current motor 30 b drives the second step bracket 12 b to move towards the second extended position, and to release energy so as to assist the second permanent magnet direct current motor 30 b to drive the second extending and retracting device 10 b, i.e., to drive the second step bracket 12 b, when the second permanent magnet direct current motor 30 b drives the second step bracket 12 b to move towards the second retracted position.

The load of the first permanent magnet direct current motor 30 a during driving the step 20 to retract is bigger than that of the first permanent magnet direct current motor 30 a during driving the step 20 to extend, so that the working current of the first permanent magnet direct current motor 30 a during driving the step 20 to retract is larger than that of the first permanent magnet direct current motor 30 a during driving the step 20 to extend.

The load of the second permanent magnet direct current motor 30 b during driving the step 20 to retract is bigger than that of the second permanent magnet direct current motor 30 b during driving the step 20 to extend, so that the working current of the second permanent magnet direct current motor 30 b during driving the step 20 to retract is larger than that of the second permanent magnet direct current motor 30 b during driving the step 20 to extend.

For the vehicle step apparatus, when the step 20 is extending, the first motor shaft 32 a drives the first elastic member 50 a to move and the second motor shaft 32 b drives the second elastic member 50 b to move. Thus, both the first elastic member 50 a and the second elastic member 50 b are caused to be elastically deformed so as to store energy.

When the step 20 is retracting, the first elastic member 50 a releases energy to assist the first permanent magnet direct current motor 30 a in driving the first extending and retracting device 10 a, so that the load and the working current of the first permanent magnet direct current motor 30 a are decreased during driving the step 20 to retract. The second elastic member 50 b releases energy to assist the second permanent magnet direct current motor 30 b in driving the second extending and retracting device 10 b, so that the load and the working current of the second permanent magnet direct current motor 30 b are decreased during driving the step 20 to retract.

Thus, the working current of the first permanent magnet direct current motor 30 a in the processes of driving the step 20 to retract is generally consistent with that of the first permanent magnet direct current motor 30 a in the processes of driving the step 20 to extend; and the working current of the second permanent magnet direct current motor 30 b in the processes of driving the step 20 to retract is generally consistent with that of the second permanent magnet direct current motor 30 b in the processes of driving the step 20 to extend. Thus, the first permanent magnet direct current motor 30 a and the second permanent magnet direct current motor 30 b are protected effectively, and the working life of the first permanent magnet direct current motor 30 a and that of the second permanent magnet direct current motor 30 b are prolonged.

In some embodiments, the first elastic member 50 a includes a first scroll spring, and the second elastic member 50 b includes a second scroll spring. A first end 51 a of the first scroll spring is fixed, and a second end 52 a of the first scroll spring is driven by the first motor shaft 32 a of the first permanent magnet direct current motor 30 a so as to twist. A first end 51 b of the second scroll spring is fixed, and a second end 52 b of the second scroll spring is driven by the second motor shaft 32 b of the second permanent magnet direct current motor 30 b so as to twist.

As shown in FIG. 7 and FIG. 8, an end of the outermost ring of the first scroll spring is bent outwards to form the first end 51 a, and an end of an innermost ring of the first scroll spring is bent inwards to form the second end 52 a. The first end 51 a includes the end of the outermost ring of the first scroll spring and a portion of the outermost ring coupled with the end of the outermost ring. The second end 52 a includes the end of the innermost ring of the first scroll spring and a portion of the innermost ring coupled with the end of the innermost ring.

An end of the outermost ring of the second scroll spring is bent outwards to form the first end 51 b, and an end of an innermost ring of the second scroll spring is bent inwards to form the second end 52 b. The first end 51 b includes the end of the outermost ring of the second scroll spring and a portion of the outermost ring coupled with the end of the outermost ring. The second end 52 b includes the end of the innermost ring of the second scroll spring and a portion of the innermost ring coupled with the end of the innermost ring.

The first end 51 a of the first scroll spring and the first end 51 b of the second scroll spring are fixed with respect to the bracket 11 a and the bracket 11 b, respectively. When the step 20 is extending, the second end 52 a of the first scroll spring rotates along with the first motor shaft 32 a and is twisted tightly to store energy, and the second end 52 b of the second scroll spring rotates along with the second motor shaft 32 b and is twisted tightly to store energy.

When the step 20 is retracting, the second end 52 a of the first scroll spring rotates along with the first motor shaft 32 a and releases energy so as to assist the first permanent magnet direct current motor 30 a to drive the first extending and retracting device 10 a to retract, and the second end 52 b of the second scroll spring rotates along with the second motor shaft 32 b and releases energy so as to assist the second permanent magnet direct current motor 30 b to drive the second extending and retracting device 10 b to retract.

However, the present technology is not limited to this, both the first elastic member 50 a and the second elastic member 50 b may be a spring leaf, a disk spring or other units or parts easy to be deformed elastically.

As shown in FIG. 7 and FIG. 8, the vehicle step apparatus 100 further includes a first cover 70 a, a first connection plate 60 a, a second cover 70 b and a second connection plate 60 b.

A first recess 312 a is formed in a first motor casing 31 a of the first permanent magnet direct current motor 30 a, and the first cover 70 a covers the first recess 312 a to define a first cavity. The first connection plate 60 a is mounted within the first cavity and driven by the first motor shaft 32 a of the first permanent magnet direct current motor 30 a to rotate. The first scroll spring is mounted within the first cavity, the first end 51 a of the first scroll spring is fixed in the first cover 70 a, and the second end 52 a of the first scroll spring is coupled with the first connection plate 60 a.

A second recess 312 b is formed in a second motor casing 31 b of the second permanent magnet direct current motor 30 b, and the second cover 70 b covers the second recess 312 b to define a second cavity. The second connection plate 60 b is mounted within the second cavity and driven by the second motor shaft 32 b of the second permanent magnet direct current motor 30 b to rotate. The second scroll spring is mounted within the second cavity, the first end 51 b of the second scroll spring is fixed in the second cover 70 b, and the second end 52 b of the second scroll spring is coupled with the second connection plate 60 b.

As shown in FIG. 7 and FIG. 8, the first cover 70 a is detachably fastened to the first motor casing 31 a of the first permanent magnet direct current motor 30 a. A first limitation notch 71 a is formed in the first cover 70 a, a first limitation column 111 a is formed on the first mounting bracket 11 a, the first limitation column 111 a is fitted within the first limitation notch 71 a to mount the first cover 70 a on the first mounting bracket 11 a. The first end 51 a of the first scroll spring is fitted over the first limitation column 111 a.

The second cover 70 b is detachably fastened to the second motor casing 31 b of the second permanent magnet direct current motor 30 b. A second limitation notch 71 b is formed in the second cover 70 b, a second limitation column 111 b is formed on the second mounting bracket 11 b, the second limitation column 111 b is fitted within the second limitation notch 71 b to mount the second cover 70 b on the second mounting bracket 11 b. The first end 51 b of the second scroll spring is fitted over the second limitation column 111 b.

Specifically, the first connection plate 60 a is configured as a substantially circular plate. The first connection plate 60 a is disposed within the first cavity, and the first connection plate 60 a defines a first surface opposing to the first recess 312 a and a second surface opposing to the first cover 70 a. The first connection plate 60 a is coupled with the first motor shaft 32 a directly or indirectly, so that the first connection plate 60 a can rotate under the drive of the first motor shaft 32 a. The first scroll spring is fitted over the first connection plate 60 a, and the second end 52 a of the first scroll spring is connected to the first connection plate 60 a and rotates along with the first connection plate 60 a in a same direction.

The second connection plate 60 b is configured as a substantially circular plate. The second connection plate 60 b is disposed within the second cavity, and the second connection plate 60 b defines a first surface opposing to the second recess 312 b and a second surface opposing to the second cover 70 b. The second connection plate 60 b is coupled with the second motor shaft 32 b directly or indirectly, so that the second connection plate 60 b can rotate under the drive of the second motor shaft 32 b. The second scroll spring is fitted over the second connection plate 60 b, and the second end 52 b of the second scroll spring is connected to the second connection plate 60 b and rotates along with the second connection plate 60 b in a same direction.

Therefore, the first scroll spring and the second scroll spring can be integrated in the first permanent magnet direct current motor 30 a and the second permanent magnet direct current motor 30 b respectively so as to decrease transmission loss and make the structure of the vehicle step apparatus 100 more compactly.

The first connection plate 60 a, the second connection plate 60 b, the first cover 70 a, the second cover 70 b, the first recess 312 a and the second recess 312 b may have a circular shape or an oval shape.

A number of each of the first limitation notch 71 a, the first limitation column 111 a, the second limitation notch 71 b and the second limitation column 111 b is not limited to two, and when there are more than two first limitation notches 71 a and two second limitation notches 71 b, the first limitation notches 71 a are provided and evenly spaced apart from each other along a circumferential direction of the first cover 70 a, and the second limitation notches 71 b are provided and evenly spaced apart from each other along a circumferential direction of the second cover 70 b.

A first catch groove 61 a is formed in an outer circumferential surface of the first connection plate 60 a, and the second end 52 a of the first scroll spring is inserted into and fitted within the first catch groove 61 a. The first connection plate 60 a is fitted over the first connection shaft 80 a and coupled with the first connection shaft 80 a via spline coupling.

A second catch groove 61 b is formed in an outer circumferential surface of the second connection plate 60 b, and the second end 52 b of the second scroll spring is inserted into and fitted within the second catch groove 61 b. The second connection plate 60 b is fitted over the second connection shaft 80 b and coupled with the second connection shaft 80 b via spline coupling.

As shown in FIG. 7, the first catch groove 61 a extends along a radial direction of the first connection plate 60 a, and the second catch groove 61 b extends along a radial direction of the second connection plate 60 b. A center of each of the first connection plate 60 a, the first motor shaft 32 a, the second connection plate 60 b and the second motor shaft 32 b has a spline hole. Each of the first connection shaft 80 a and the second connection shaft 80 b has an external spline.

The first motor shaft 32 a drives the first connection shaft 80 a and the first connection plate 60 a to rotate, and the second end 52 a of the first scroll spring fixed on the first connection plate 60 a rotates along with the first connection plate 60 a. The second motor shaft 32 b drives the second connection shaft 80 b and the second connection plate 60 b to rotate, and the second end 52 b of the second scroll spring fixed on the second connection plate 60 b rotates along with the second connection plate 60 b.

Thus, the first scroll spring and the second scroll spring are gradually rolled up tightly, thus resulting in a simple and compact structure. In addition, the first connection shaft 80 a is coupled with the first motor shaft 32 a and the first connection plate 60 a via spline connection so as to ensure driving force transmission and make installation and disassembly to be easy, and the second connection shaft 80 b is coupled with the second motor shaft 32 b and the second connection plate 60 b via spline connection so as to ensure driving force transmission and make installation and disassembly to be easy.

As shown in FIG. 7, a first mounting hole 311 a is formed in the first motor casing 31 a, and the first limitation column 111 a is passed through the first mounting hole 311 a. A first threaded hole 1111 a is formed in the first limitation column 111 a, and the first permanent magnet direct current motor 30 a is mounted on the first mounting bracket 11 a via a first bolt 90 a fitted within the first threaded hole 1111 a.

A second mounting hole 311 b is formed in the second motor casing 31 b, and the second limitation column 111 b is passed through the second mounting hole 311 b. A second threaded hole 1111 b is formed in the second limitation column 111 b, and the second permanent magnet direct current motor 30 b is mounted on the second mounting bracket 11 b via a second bolt 90 b fitted within the second threaded hole 1111 b.

The first limitation column 111 a is passed through the first limitation notch 71 a and bears against the first motor casing 31 a. The first mounting hole 311 a of the first motor casing 31 a is opposite to the first threaded hole 1111 a of the first limitation column 111 a. The first bolt 90 a is passed through the first mounting hole 311 a and is fitted within the first threaded hole 1111 a so as to mount the first motor casing 31 a to the first mounting bracket 11 a.

The second limitation column 111 b is passed through the second limitation notch 71 b and bears against the second motor casing 31 b. The second mounting hole 311 b of the second motor casing 31 b is opposite to the second threaded hole 1111 b of the second limitation column 111 b. The second bolt 90 b is passed through the second mounting hole 311 b and is fitted within the second threaded hole 1111 b so as to mount the second motor casing 31 b to the second mounting bracket 11 b.

Some example embodiments in accordance with the disclosed vehicle step apparatus are described below.

In an example embodiment in accordance with the present technology (example A1), a motorized step for a vehicle includes a first extending and retracting device comprising a first mounting bracket attachable to a chassis of a vehicle, a first step bracket, and a first arm assembly coupled to the first mounting bracket and the first step bracket and configured to drive the first step bracket to move between a first extended position and a first retracted position; a second extending and retracting device comprising a second mounting bracket attachable to the chassis of the vehicle, a second step bracket, and a second arm assembly coupled to the second mounting bracket and the second step bracket and configured to drive the second step bracket to move between a second extended position and a second retracted position, wherein the second extended position is aligned with the first extended position, and wherein the second retracted position is aligned with the first retracted position; a step coupled to the first step bracket and the second step bracket; a first permanent magnet direct current motor coupled with the first arm assembly to drive the first arm assembly; and a second permanent magnet direct current motor coupled with the second arm assembly to drive the second arm assembly, wherein the first permanent magnet direct current motor and the second permanent magnet direct current motor are configured to drive the first arm assembly and the second arm assembly, respectively, in unison and with synchronized motion as the step extends and retracts.

Example A2 includes the motorized vehicle step of example A1, wherein the first permanent magnet direct current motor comprises a first motor shaft that is coupled with a first connection shaft of the first arm assembly, and wherein the second permanent magnet direct current motor comprises a second motor shaft that is coupled with a second connection shaft of the second arm assembly.

Example A3 includes the motorized vehicle step of example A2, including a first elastic member configured to elastically deform so as to store energy when the first permanent magnet direct current motor drives the first step bracket to move towards the first extended position, and to release energy so as to assist the first permanent magnet direct current motor to drive the first extending and retracting device when the first permanent magnet direct current motor drives the first step bracket to move towards the first retracted position; and a second elastic member configured to elastically deform so as to store energy when the second permanent magnet direct current motor drives the second step bracket to move towards the second extended position, and to release energy so as to assist the second permanent magnet direct current motor to drive the second extending and retracting device when the second permanent magnet direct current motor drives the second step bracket to move towards the second retracted position.

Example A4 includes the motorized vehicle step of example A3, wherein the first elastic member comprises a first spring defining a fixed first end and a second end driven by the first motor shaft of the first permanent magnet direct current motor so as to change shape; wherein the second elastic member comprises a second spring defining a fixed first end and a second end driven by the second motor shaft of the second permanent magnet direct current motor so as to change shape.

Example A5 includes the motorized vehicle step of example A4, wherein the first spring and the second spring each include one of a scroll spring, a spring leaf, or a disk spring.

Example A6 includes the motorized vehicle step of example A4, wherein the first spring includes a first scroll spring, and the second spring includes a second scroll spring, the motorized vehicle step further including a first cover and a first connection plate, wherein a first recess is formed in a casing of the first permanent magnet direct current motor, and the first cover covers the first recess to define a first cavity, the first connection plate is mounted within the first cavity and driven by the first motor shaft of the first permanent magnet direct current motor to rotate, wherein the first scroll spring is mounted within the first cavity, the first end of the first scroll spring is fixed in the first cover, and the second end of the first scroll spring is coupled with the first connection plate; and a second cover and a second connection plate, wherein a second recess is formed in a casing of the second permanent magnet direct current motor, and the second cover covers the second recess to define a second cavity, the second connection plate is mounted within the second cavity and driven by the second motor shaft of the second permanent magnet direct current motor to rotate, wherein the second scroll spring is mounted within the second cavity, the first end of the second scroll spring is fixed in the second cover, and the second end of the second scroll spring is coupled with the second connection plate.

Example A7 includes the motorized vehicle step of example A1, wherein the first extending and retracting device includes a four-link mechanism, where the first arm assembly includes a first arm defining a first end pivotally coupled with the first mounting bracket, and a second end pivotally coupled with the first step bracket; and a second arm defining a first end pivotally coupled with the first mounting bracket, and a second end pivotally coupled with the first step bracket, wherein the first permanent magnet direct current motor is coupled with one of the first arm or the second arm.

Example A8 includes the motorized vehicle step of example A1, wherein the first extending and retracting device includes a five-link mechanism, where the first arm assembly includes a first arm defining a first end pivotally coupled with the first mounting bracket, and a second end pivotally coupled with the first step bracket; a second arm defining a first end pivotally coupled with the first mounting bracket, and a second end; and a third arm defining a first end pivotally coupled with the second end of the second arm, and a second end pivotally coupled with the first step bracket, wherein the first permanent magnet direct current motor is coupled with one of the first arm or the second arm.

Example A9 includes the motorized vehicle step of example A1, wherein the first extending and retracting device includes a six-link mechanism, where the first arm assembly includes a first arm defining a first end pivotally coupled with the first mounting bracket, and a second end pivotally coupled with the first step bracket; a second arm defining a first end pivotally coupled with the first mounting bracket, and a second end; a third arm defining a first end pivotally coupled with the second end of the second arm, and a second end pivotally coupled with the first step bracket; and a fourth arm defining a first end pivotally coupled with both of the second end of the second arm and the first end of the third arm, and a second end pivotally coupled with a middle portion of the first arm, wherein the first permanent magnet direct current motor is coupled with one of the first arm or the second arm.

Example A10 includes the motorized vehicle step of example A1, wherein the first permanent magnet direct current motor is coupled to the first mounting bracket, and the second permanent magnet direct current motor is coupled to the second mounting bracket.

Example A11 includes the motorized vehicle step of example A1, wherein the first permanent magnet direct current motor and the second permanent magnet direct current motor are operable to self-lock.

Example A12 includes the motorized vehicle step of example A1, wherein the first permanent magnet direct current motor and the second permanent magnet direct current motor are operable to drive the first arm assembly and the second arm assembly, respectively, at rotational speed that is related to a load, such that the rotational speed will be decreased due to an increasing load and the rotational speed will be increased due to a decreasing load.

In an example embodiment in accordance with the present technology (example A13), a motorized step for a vehicle includes a dual drive mechanism assembly, comprising a first extending and retracting device and a second extending and retracting device, the first extending and retracting device comprising a first mounting bracket attachable to a chassis of a vehicle, a first step bracket, and a first arm assembly coupled to the first mounting bracket and the first step bracket and configured to drive the first step bracket to move between a first extended position and a first retracted position, the second extending and retracting device comprising a second mounting bracket attachable to the chassis of the vehicle, a second step bracket, and a second arm assembly coupled to the second mounting bracket and the second step bracket and configured to drive the second step bracket to move between a second extended position and a second retracted position, wherein the second extended position is aligned with the first extended position, and wherein the second retracted position is aligned with the first retracted position; a step coupled to the first step bracket and the second step bracket; and a dual motor assembly comprising a first motor and a second motor, the first motor coupled with the first arm assembly to drive the first arm assembly, and the second motor coupled with the second arm assembly to drive the second arm assembly, wherein the dual motor assembly is operable to cause the step to extend and retract in a balanced orientation where neither side of the step is drooping with respect to the other based on the first motor and the second motor configured to drive the first arm assembly and the second arm assembly, respectively, in unison and with synchronized motion.

Example A14 includes the motorized vehicle step of example A13, wherein the dual drive mechanism assembly includes a four-link mechanism for one or both of the first extending and retracting device and the second extending and retracting device, wherein the four-link mechanism includes a first arm defining a first end to pivotally couple with a mounting bracket of the dual drive mechanism assembly, and a second end to pivotally couple with a step bracket of the dual drive mechanism assembly; and a second arm defining a first end to pivotally couple with the mounting bracket, and a second end to pivotally couple with the step bracket, wherein one of the first arm or the second arm is coupled with a motor of the dual motor assembly.

Example A15 includes the motorized vehicle step of example A13, wherein the dual drive mechanism assembly includes a five-link mechanism for one or both of the first extending and retracting device and the second extending and retracting device, wherein the five-link mechanism includes a first arm defining a first end to pivotally couple with a mounting bracket of the dual drive mechanism assembly, and a second end to pivotally couple with a step bracket of the dual drive mechanism assembly; a second arm defining a first end to pivotally couple with the mounting bracket, and a second end; and a third arm defining a first end pivotally coupled with the second end of the second arm, and a second end to pivotally couple with the step bracket, wherein one of the first arm or the second arm is coupled with a motor of the dual motor assembly.

Example A16 includes the motorized vehicle step of example A13, wherein the dual drive mechanism assembly includes a six-link mechanism for one or both of the first extending and retracting device and the second extending and retracting device, wherein the six-link mechanism includes a first arm defining a first end to pivotally couple with a mounting bracket of the dual drive mechanism assembly, and a second end to pivotally couple with a step bracket of the dual drive mechanism assembly; a second arm defining a first end to pivotally couple with the mounting bracket, and a second end; a third arm defining a first end pivotally coupled with the second end of the second arm, and a second end to pivotally couple with the step bracket; and a fourth arm defining a first end pivotally coupled with both of the second end of the second arm and the first end of the third arm, and a second end pivotally coupled with a middle portion of the first arm, wherein one of the first arm or the second arm is coupled with a motor of the dual motor assembly.

Example A17 includes the motorized vehicle step of example A13, wherein the first motor includes a first motor shaft that is coupled with a first connection shaft of the first arm assembly, and wherein the second motor comprises a second motor shaft that is coupled with a second connection shaft of the second arm assembly.

Example A18 includes the motorized vehicle step of example A17, including a first elastic member configured to elastically deform so as to store energy when the first motor drives the first step bracket to move towards the first extended position, and to release energy so as to assist the first motor to drive the first extending and retracting device when the first motor drives the first step bracket to move towards the first retracted position; and a second elastic member configured to elastically deform so as to store energy when the second motor drives the second step bracket to move towards the second extended position, and to release energy so as to assist the second motor to drive the second extending and retracting device when the second motor drives the second step bracket to move towards the second retracted position.

Example A19 includes the motorized vehicle step of example A18, wherein the first elastic member comprises a first spring defining a fixed first end and a second end driven by the first motor shaft of the first motor so as to change shape; wherein the second elastic member comprises a second spring defining a fixed first end and a second end driven by the second motor shaft of the second motor so as to change shape.

Example A20 includes the motorized vehicle step of example A19, wherein the first spring and the second spring each include one of a scroll spring, a spring leaf, or a disk spring.

In some aspects, a vehicle step apparatus with dual drive motors in accordance with the disclosed embodiments is described.

Motorized vehicle steps typically must carry substantial loads and therefore may be made of materials of relatively large weight and size, thereby putting demands on the motor. Conventional motorized vehicle step devices may include multiple extension-retraction devices coupled to the step with one motor driving one of the extension-retraction devices. A single drive motor requires high motor performance, which results in high manufacturing difficulty and high cost.

Conventional single motor-driven vehicle step devices do not provide durability and reliability of the motorized vehicle step, particularly after continuous uses. For example, after a conventional single motor-driven vehicle step device is used for a period of time (e.g., hundreds of extensions and retractions), the driven end of the step may sag relative to the motor-driving end of the step, which can create a larger gap between the driven end of the step and the vehicle body than the gap between the driving end of the step and the vehicle body, thus affecting the appearance and performance of the vehicle step device. Furthermore, when the driven end is not locked by the motor assembly, the failure rate of the motor of the motorized vehicle step is increased after the vehicle step vibrates for a long time, and the service life of the product is shortened. Yet it is challenging to provide a motorized vehicle step device that can employ multiple (e.g., two or more) motors to distribute the drive power for extending and retracting the step that sufficiently addresses and solves these problems with conventional systems.

Disclosed are devices and methods for driving a vehicle step assembly by multiple (e.g. two or more) motors by a motor assembly capable of self-locking of the of the vehicle step assembly.

As shown in FIGS. 9-13, a vehicle step apparatus 100′ according to embodiments of the present technology includes a step 20′ and a first extending and retracting device 10 a′ and a second extending and retracting device 10 b′, which are driven by a first motor assembly 900 a and a second motor assembly 900 b, respectively, each capable of self-locking and sometimes referred to as self-locking motor assemblies. In some embodiments, the first motor assembly 900 a and the second motor assembly 900 b each include a worm mechanism including a worm gear and worm to drive the worm gear based on rotation of the worm rotated by a worm shaft coupled to a motor of the respective motor assembly, where the worm is structured to have a lead angle greater than the friction angle to create a self-locking effect of the respective motor assembly, such that only the motor can drive rotation of the shaft in either rotational directions while preventing the shaft from rotation in the other non-driven rotational direction. In this manner, the first motor assembly 900 a and the second motor assembly 900 b are each capable of self-locking in reversible directions, e.g., reverse self-locking, depending on which direction the motor is driving the worm mechanism. This is illustrated in greater detail in FIGS. 9-13.

FIG. 9 shows a schematic view of the vehicle step apparatus 100′. The first extending and retracting device 10 a′ includes a first mounting bracket 11 a′ that is attachable to the underside of a vehicle (e.g., chassis), a first step bracket 12 a′ and a first arm assembly 13 a′, where the first arm assembly 13 a′ is coupled between the first mounting bracket 11 a′ and the first step bracket 12 a′ and configured to drive the first step bracket 12 a′ to move between a first extended position and a first retracted position. Similarly, the second extending and retracting device 10 b′ includes a second mounting bracket 11 b′ that is attachable to the underside of a vehicle (e.g., chassis), a second step bracket 12 b′ and a second arm assembly 13 b′, where the second arm assembly 13 b′ is coupled between the second mounting bracket 11 b′ and the second step bracket 12 b′ and configured to drive the second step bracket 12 b′ to move between a second extended position and a second retracted position. In operations of the vehicle step apparatus 100′, the respective arm assemblies 13 a′ and 13 b′ of the first extending and retracting device 10 a′ and the second extending and retracting device 10 b′ are driven in synchrony such that the respective step brackets 12 a′ and 12 b′ are aligned with each other during movement and in the first extended position and the second extended position, respectively.

The first self-locking motor assembly 900 a is coupled with an arm of the first arm assembly 13 a′ (via a shaft, not shown), and the second self-locking motor assembly 900 b is coupled with an arm of the second arm assembly 13 b′ (via a shaft, not shown). The first self-locking motor assembly 900 a is able to mount on the first mounting bracket 11 a′, and the second self-locking motor assembly 900 b is able to mount on the second mounting bracket 11 b′.

Each extending and retracting device 10 a′ and 10 b′ of the vehicle step apparatus 100′ is equipped with a drive motor assembly capable of a reverse self-locking functionality based on configuration of the motor assembly. In implementations, for example, after receiving a movement instruction (e.g., from a controller device), both of the self-locking motor assemblies 900 a and 900 b operate synchronously, driving the respective extending and retracting devices 10 a′ and 10 b′ to operate according to a predetermined trajectory, thus driving the step 20 to operate between the extended position and the retracted position. When the respective extending and retracting devices 10 a′ and 10 b′ are in the retracted state, due to the reverse self-locking function of the motor assembly, the step 20 is located in the retracted position and held into the position without any further movement, e.g., the step 20 does not vibrate or result in sagging or drooping after several usages. For example, the reverse self-locking to maintain the step 20 in the retracted position (without vibrating, sagging or drooping) and the consistency in movement can occur even after thousands of operations of the vehicle step apparatus 100′ to move the step 20 between the extended and retracted positions.

FIGS. 10 and 11 show diagrams depicting an outside perspective view and an exploded view, respectively, of an example embodiment of the self-locking motor assembly 900. The self-locking motor assembly 900 includes a motor 911 and a worm gear 915 (both shown in FIG. 11) that collectively are encased in a motor housing 904 and a worm gear casing 909. In some examples, the motor 911 can include a DC permanent magnet motor, like the permanent magnet direct current motor 30 discussed earlier. The motor 911 includes a stator portion and a rotor portion, which the rotor includes a worm 911A at the end of a rotor shaft 911B (shown in FIG. 12), and which the stator of the motor 911 couples to an armature 906. The worm 911A engages with the teeth of the worm gear 915 so as to cause rotation of the worm gear 915 to in turn cause a planetary wheel drive assembly 920 to rotate, e.g., via interface between a gear box bearing 917 from the worm gear 915 to a planetary shaft 921 of the planetary wheel drive assembly 920. The worm gear 915 is encased within the worm gear casing 909, in which a first opening of the worm gear casing 909 can be partially covered by a cover 910. The planetary wheel drive assembly 920 is encased within the worm gear casing 909 on the other side, in which a second opening of the worm gear casing 909 can be partially covered by a cover 925.

The motor assembly 900 includes the worm gear 915 and the worm reduction mechanism (e.g., worm 911A coupled to the stator of the motor 911 via shaft 911B), which enables the motor assembly to have a reverse self-locking function. In multiple-motorized systems, there is a hidden danger of each motor operating out of synch, which in the case of the two motors in the dual-motor driving mode of vehicle step apparatus 100′, could lead to misalignment of the step brackets and result in sagging or drooping of the step. The worm gear 915 and worm reduction mechanism 911A can provide the motor assembly 900 with a means to synchronize two (or more) permanent magnet direct current motors that drive components (e.g., arm assemblies 13 a′ and 13 b′) without having to share a common shaft.

For example, a motor having a high rotating speed has an increased load and a decreased rotating speed, whereas a motor having a low rotating speed has a decreased load and an increased rotating speed. Thus, rotating speeds of the two mechanisms reach dynamic balance, thereby realizing the motion synchronization of the two mechanisms.

Referring to FIG. 11, additional components of the example embodiment of the motor assembly 900 are shown, but it is understood that some of these components are not required for providing a self-locking capability. As shown in FIG. 11, the example embodiment of the self-locking motor assembly 900 can include a socket 908 coupled to the armature 906, e.g., which can be attached by hexagon socket head cap screws 907. The socket 908 can be connected to the motor housing 904 and/or worm gear casing 909 by a connector 905. The end of the rotor of motor 911 (with the worm 911A) can be encased in the worm gear casing 909 at worm casing region 909A, in which an opening of the worm casing region 909A can be secured by adjustment screw assembly 914. The end of the rotor can be coupled to a gear box ball bearing 913 and an elastic ring 912. The gear box bearing 917 can interface with the planetary shaft 921 via an O-ring 918 and adjusting washer 919. The planetary wheel drive assembly 920 can include a plurality of planetary gear wheels 920 that interface with the teeth of the planetary output shaft 921, and a plurality of planetary axels 923 and an output planet carrier component 924. The planetary shaft 921 can be secured by a shaft circlip 926.

FIGS. 12 and 13 show partial sectional views of the self-locking motor assembly 900, which shows the interface between a worm reduction mechanism and a worm gear.

In some embodiments, the vehicle step apparatus 100′ can also include the first elastic member 50 a and the second elastic member 50 b to further augment the drive capability of the first motor assembly 900 a and the second motor assembly 900 b, respectively. For example, similar to that shown in FIG. 7, the first elastic member 50 a can be coupled between the first mounting bracket 11 a′ and the first motor assembly 900 a; and the second elastic member 50 b can be coupled between the second mounting bracket 11 b′ and the second motor assembly 900 b. Such embodiments of the vehicle step apparatus 100′ can include the example embodiments discussed above for the first elastic member 50 a and the second elastic member 50 b, e.g., such as the embodiments pertaining to a spring leaf, a disk spring or other elastically deformable component and/or to a cover and/or connection plate.

The disclosed multi-motorized vehicle step device, such as the example vehicle step apparatus 100′, provide several advantages over conventional retractable steps, including but not limited to: (1) long service life of the device, e.g., as the multiple (dual) motor driving mode greatly improves the service life of the product and reduces the motor failure rate; (2) the structure is not prone to sag or droop, e.g., as both motors have a self-locking function (e.g., reversible self-locking) to prevent detrimental movements in the extended and retracted positions; (3) reduced costs of the motor system, e.g., as the dual motor driving mode reduces the requirements for motor performance, thereby allowing a motor that is more simple in manufacturing and lower in cost (such that the comprehensive cost of the double motor driving mode and the single motor driving mode is similar if not equivalent); and (4) the dual motor driving mode is more suitable for vehicles with longer and heavier steps.

Reference throughout this specification to “an embodiment,” “some embodiments,” “an example,” “a specific example,” or “some examples,” means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. The appearances of the phrases throughout this specification are not necessarily referring to the same embodiment or example of the present invention. Furthermore, the particular features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

Although explanatory embodiments have been shown and described, it would be appreciated by those skilled in the art that the above embodiments cannot be construed to limit the present invention, and changes, alternatives, and modifications can be made in the embodiments without departing from spirit, principles and scope of the present invention.

While this patent document contains many specifics, these should not be construed as limitations on the scope of any invention or of what may be claimed, but rather as descriptions of features that may be specific to particular embodiments of particular inventions. Certain features that are described in this patent document in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a subcombination or variation of a subcombination.

Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. Moreover, the separation of various system components in the embodiments described in this patent document should not be understood as requiring such separation in all embodiments.

Only a few implementations and examples are described and other implementations, enhancements and variations can be made based on what is described and illustrated in this patent document. 

What is claimed is:
 1. A motorized vehicle step apparatus, comprising: a first extending and retracting device comprising a first mounting bracket attachable to a chassis of a vehicle, a first step bracket, and a first arm assembly coupled between the first mounting bracket and the first step bracket and configured to be movable to drive the first step bracket to move between a first extended position and a first retracted position; a second extending and retracting device comprising a second mounting bracket attachable to the chassis of the vehicle, a second step bracket, and a second arm assembly coupled between the second mounting bracket and the second step bracket and configured to be movable to drive the second step bracket to move between a second extended position and a second retracted position, wherein the second extended position is aligned with the first extended position, and wherein the second retracted position is aligned with the first retracted position; a step coupled to the first step bracket and the second step bracket and operable to be moved by the first step bracket and the second step bracket between a retracted step position and an extended step position; a first motor assembly coupled to the first arm assembly and operable to (i) drive the first arm assembly to move the first step bracket between the first extended position and the first retracted position and (ii) retain the first step bracket in the retracted position by a reverse self-locking effect of the first motor assembly, the first motor assembly including a first motor, a first worm shaft having threads and engaged to and driven by the first motor to rotate, a first worm gear engaged to the threads of the first worm shaft to be driven by the first worm shaft, and a first gear drive assembly that includes a plurality of different gears engaged to one another and that is engaged between the first worm gear and the first arm assembly, wherein the first gear drive assembly is operable to, in response to rotation of the first worm gear, transmit power and rotation from the first worm gear to the first arm assembly to move the first step bracket, and wherein the first worm shaft and the first worm gear are structured to create the reverse self-locking effect; a second motor assembly coupled to the second arm assembly and operable to (i) drive the second arm assembly to move the second step bracket between the second extended position and the second retracted position and (ii) retain the second step bracket in the retracted position by a reverse self-locking effect of the second motor assembly, the second motor assembly including a second motor, a second worm shaft having threads and engaged to and driven by the second motor to rotate, a second worm gear engaged to the threads of the second worm shaft to be driven by the second worm shaft, and a second gear drive assembly that includes a plurality of different gears engaged to one another and that is engaged between the second worm gear and the second arm assembly, wherein the second gear drive assembly is operable to, in response to rotation of the second worm gear, transmit power and rotation from the second worm gear to the second arm assembly to move the second step bracket, and wherein the second worm shaft and the second worm gear are structured to create the reverse self-locking effect; and a control mechanism coupled to communicate with the first motor assembly and the second motor assembly to drive the first arm assembly and the second arm assembly, respectively, in unison and with synchronized motion as the step extends and retracts, wherein the control mechanism is configured to execute a movement instruction to control movement of both of the first motor assembly and the second motor assembly to (i) drive the first arm assembly and the second arm assembly, respectively, according to a predetermined trajectory responsive to the movement instruction that moves the step between the retracted step position and the extended step position and to (ii) retain the first step bracket and the second step bracket in the first retracted position and the second retracted position, respectively, without vibration, sagging, or drooping of the first step bracket and the second step bracket due to the reverse self-locking effect of the first motor assembly and the second motor assembly, respectively, after over two hundred cycles of extension and retraction of the step by the motorized vehicle step apparatus.
 2. The apparatus of claim 1, wherein the first motor assembly and the second motor assembly are together operable to retain the step in the retracted position such that opposing ends of the step are aligned in the retracted position.
 3. The apparatus of claim 1, wherein the first motor is configured to drive the first arm assembly at a first rotational speed that is related to a load applied on the step, and the second motor is configured to drive the second arm assembly at a second rotational speed that is related to the load applied on the step, such that the first motor and the second motor decrease the first rotational speed and the second rotational speed, respectively, based on an increasing load applied to the step and increase the first rotational speed and the second rotational speed, respectively, based on a decreasing load applied to the step, such that the first motor and second motor are able to cause the step to extend and retract between the extended position and the retracted position with the synchronized motion.
 4. The apparatus of claim 1, wherein the first motor includes a permanent magnet direct current motor coupled with the first arm assembly to drive the first arm assembly; and the second motor includes a second permanent magnet direct current motor coupled with the second arm assembly to drive the second arm assembly.
 5. The apparatus of claim 4, comprising: a first elastic member configured to elastically deform so as to store energy when the first permanent magnet direct current motor drives the first step bracket to move towards the first extended position, and to release energy so as to assist the first permanent magnet direct current motor to drive the first extending and retracting device when the first permanent magnet direct current motor drives the first step bracket to move towards the first retracted position; and a second elastic member configured to elastically deform so as to store energy when the second permanent magnet direct current motor drives the second step bracket to move towards the second extended position, and to release energy so as to assist the second permanent magnet direct current motor to drive the second extending and retracting device when the second permanent magnet direct current motor drives the second step bracket to move towards the second retracted position.
 6. The apparatus of claim 5, wherein: the first elastic member comprises a first spring defining a fixed first end and a second end driven by the first rotatable shaft of the first permanent magnet direct current motor so as to change shape; and the second elastic member comprises a second spring defining a fixed first end and a second end driven by the second rotatable shaft of the second permanent magnet direct current motor so as to change shape.
 7. The apparatus of claim 6, wherein the first spring and the second spring each include one of a scroll spring, a spring leaf, or a disk spring.
 8. The apparatus of claim 6, wherein the first spring includes a first scroll spring, and the second spring includes a second scroll spring, the motorized vehicle step apparatus comprising: a first cover and a first connection plate, wherein a first recess is formed in a casing of the first permanent magnet direct current motor, and the first cover covers the first recess to define a first cavity, the first connection plate is mounted within the first cavity and driven by the first rotatable shaft of the first permanent magnet direct current motor to rotate, wherein the first scroll spring is mounted within the first cavity, the first end of the first scroll spring is fixed in the first cover, and the second end of the first scroll spring is coupled with the first connection plate; and a second cover and a second connection plate, wherein a second recess is formed in a casing of the second permanent magnet direct current motor, and the second cover covers the second recess to define a second cavity, the second connection plate is mounted within the second cavity and driven by the second rotatable shaft of the second permanent magnet direct current motor to rotate, wherein the second scroll spring is mounted within the second cavity, the first end of the second scroll spring is fixed in the second cover, and the second end of the second scroll spring is coupled with the second connection plate.
 9. The apparatus of claim 1, wherein the first extending and retracting device includes a four-link mechanism, where the first arm assembly includes a first arm defining a first end pivotally coupled with the first mounting bracket, and a second end pivotally coupled with the first step bracket; and a second arm defining a first end pivotally coupled with the first mounting bracket, and a second end pivotally coupled with the first step bracket, wherein the first motor is coupled with one of the first arm or the second arm.
 10. The apparatus of claim 1, wherein the first extending and retracting device includes a five-link mechanism, where the first arm assembly includes a first arm defining a first end pivotally coupled with the first mounting bracket, and a second end pivotally coupled with the first step bracket; a second arm defining a first end pivotally coupled with the first mounting bracket, and a second end; and a third arm defining a first end pivotally coupled with the second end of the second arm, and a second end pivotally coupled with the first step bracket, wherein the first motor is coupled with one of the first arm or the second arm.
 11. The apparatus of claim 1, wherein the first extending and retracting device includes a six-link mechanism, where the first arm assembly includes a first arm defining a first end pivotally coupled with the first mounting bracket, and a second end pivotally coupled with the first step bracket; a second arm defining a first end pivotally coupled with the first mounting bracket, and a second end; a third arm defining a first end pivotally coupled with the second end of the second arm, and a second end pivotally coupled with the first step bracket; and a fourth arm defining a first end pivotally coupled with both of the second end of the second arm and the first end of the third arm, and a second end pivotally coupled with a middle portion of the first arm, wherein the first motor is coupled with one of the first arm or the second arm.
 12. The apparatus of claim 1, wherein the first gear drive assembly includes a first gear and a second gear engaged with the first gear, wherein the first gear is operably coupled to the first worm gear, and the second gear is operably coupled to the first arm assembly; and wherein the second gear drive assembly includes a third gear and a fourth gear engaged with the third gear, wherein the third gear is operably coupled to the second worm gear, and the fourth gear is operably coupled to the second arm assembly.
 13. The apparatus of claim 12, wherein the first gear is smaller than the second gear to create a gear ratio of the first gear drive assembly greater than 1; and wherein the third gear is smaller than the fourth gear to create a gear ratio of the second gear drive assembly greater than
 1. 14. The apparatus of claim 12, wherein the first gear is centrally positioned with respect to the second gear such that the second gear rotates around the first gear, and wherein the third gear is centrally positioned with respect to the fourth gear such that the fourth gear rotates around the third gear.
 15. The apparatus of claim 1, wherein the first motor is attachable to the first mounting bracket, and the second motor is attachable to the second mounting bracket.
 16. The apparatus of claim 1, wherein the first gear drive assembly includes a first planetary gear drive assembly, and the second gear drive assembly includes a second planetary gear drive assembly.
 17. The apparatus of claim 1, wherein, in the first motor assembly, the first worm shaft and the first worm gear are structured as a first reduction mechanism in the first motor assembly for decreasing a rotational speed of the first worm gear relative to a rotational speed of the first motor, and the first gear drive assembly is structured as a second reduction mechanism in the first motor assembly for decreasing a rotational speed of the first arm assembly in moving the first step bracket relative to the rotational speed of the first worm gear; and in the second motor assembly, the second worm shaft and the second worm gear are structured as a first reduction mechanism in the second motor assembly for decreasing a rotational speed of the second worm gear relative to a rotational speed of the second motor, and the second gear drive assembly is structured as a second reduction mechanism in the second motor assembly for decreasing a rotational speed of the second arm assembly in moving the second step bracket relative to the rotational speed of the second worm gear.
 18. The apparatus of claim 1, wherein the control mechanism is configured to dynamically balance a rotational speed of the first motor assembly with a second rotational speed of the second motor assembly to realize the synchronized motion.
 19. A motorized vehicle step apparatus, comprising: a first extending and retracting device comprising a first mounting bracket attachable to a chassis of a vehicle, a first step bracket, and a first arm assembly coupled between the first mounting bracket and the first step bracket and configured to be movable to drive the first step bracket to move between a first extended position and a first retracted position; a second extending and retracting device comprising a second mounting bracket attachable to the chassis of the vehicle, a second step bracket, and a second arm assembly coupled between the second mounting bracket and the second step bracket and configured to be movable to drive the second step bracket to move between a second extended position and a second retracted position, wherein the second extended position is aligned with the first extended position, and wherein the second retracted position is aligned with the first retracted position; a step coupled to the first step bracket and the second step bracket and operable to be moved by the first step bracket and the second step bracket; a first motor assembly coupled to the first arm assembly and operable to (i) drive the first arm assembly to move the first step bracket between the first extended position and the first retracted position and (ii) retain the first step bracket in the retracted position by a reverse self-locking effect of the first motor assembly, the first motor assembly including a first motor, a first worm shaft having threads and engaged to and driven by the first motor to rotate, a first worm gear engaged to the threads of the first worm shaft to be driven by the first worm shaft, and a first gear drive assembly that includes a plurality of different gears engaged to one another and that is engaged between the first worm gear and the first arm assembly, wherein the first gear drive assembly is operable to, in response to rotation of the first worm gear, transmit power and rotation from the first worm gear to the first arm assembly to move the first step bracket, and wherein the first worm shaft and the first worm gear are structured to create the reverse self-locking effect; a second motor assembly coupled to the second arm assembly and operable to (i) drive the second arm assembly to move the second step bracket between the second extended position and the second retracted position and (ii) retain the second step bracket in the retracted position by a reverse self-locking effect of the second motor assembly, the second motor assembly including a second motor, a second worm shaft having threads and engaged to and driven by the second motor to rotate, a second worm gear engaged to the threads of the second worm shaft to be driven by the second worm shaft, and a second gear drive assembly that includes a plurality of different gears engaged to one another and that is engaged between the second worm gear and the second arm assembly, wherein the second gear drive assembly is operable to, in response to rotation of the second worm gear, transmit power and rotation from the second worm gear to the second arm assembly to move the second step bracket, and wherein the second worm shaft and the second worm gear are structured to create the reverse self-locking effect; and a control mechanism coupled to communicate with the first motor assembly and the second motor assembly to drive the first arm assembly and the second arm assembly, respectively, in unison and with synchronized motion as the step extends and retracts, wherein the first gear drive assembly includes a first gear and a second gear engaged with the first gear, wherein the first gear is operably coupled to the first worm gear, and the second gear is operably coupled to the first arm assembly, wherein the second gear drive assembly includes a third gear and a fourth gear engaged with the third gear, wherein the third gear is operably coupled to the second worm gear, and the fourth gear is operably coupled to the second arm assembly, wherein the first gear is centrally positioned with respect to the second gear such that the second gear rotates around the first gear, and wherein the third gear is centrally positioned with respect to the fourth gear such that the fourth gear rotates around the third gear, wherein the first gear drive assembly includes a fifth gear engaged with the first gear, the first gear centrally positioned with respect to the fifth gear such that the fifth gear rotates around the first gear, and wherein the second gear drive assembly includes a sixth gear engaged with the third gear, the third gear centrally positioned with respect to the sixth gear such that the sixth gear rotates around the third gear.
 20. A motorized vehicle step apparatus, comprising: a first extending and retracting device comprising a first mounting bracket attachable to a chassis of a vehicle, a first step bracket, and a first arm assembly coupled between the first mounting bracket and the first step bracket and configured to be movable to drive the first step bracket to move between a first extended position and a first retracted position; a second extending and retracting device comprising a second mounting bracket attachable to the chassis of the vehicle, a second step bracket, and a second arm assembly coupled between the second mounting bracket and the second step bracket and configured to be movable to drive the second step bracket to move between a second extended position and a second retracted position, wherein the second extended position is aligned with the first extended position, and wherein the second retracted position is aligned with the first retracted position; a step coupled to the first step bracket and the second step bracket and operable to be moved by the first step bracket and the second step bracket; a first motor assembly coupled to the first arm assembly and operable to (i) drive the first arm assembly to move the first step bracket between the first extended position and the first retracted position and (ii) retain the first step bracket in the retracted position by a reverse self-locking effect of the first motor assembly, the first motor assembly including a first motor, a first worm shaft having threads and engaged to and driven by the first motor to rotate, a first worm gear engaged to the threads of the first worm shaft to be driven by the first worm shaft, and a first gear drive assembly that includes a plurality of different gears engaged to one another and that is engaged between the first worm gear and the first arm assembly, wherein the first gear drive assembly is operable to, in response to rotation of the first worm gear, transmit power and rotation from the first worm gear to the first arm assembly to move the first step bracket, and wherein the first worm shaft and the first worm gear are structured to create the reverse self-locking effect; a second motor assembly coupled to the second arm assembly and operable to (i) drive the second arm assembly to move the second step bracket between the second extended position and the second retracted position and (ii) retain the second step bracket in the retracted position by a reverse self-locking effect of the second motor assembly, the second motor assembly including a second motor, a second worm shaft having threads and engaged to and driven by the second motor to rotate, a second worm gear engaged to the threads of the second worm shaft to be driven by the second worm shaft, and a second gear drive assembly that includes a plurality of different gears engaged to one another and that is engaged between the second worm gear and the second arm assembly, wherein the second gear drive assembly is operable to, in response to rotation of the second worm gear, transmit power and rotation from the second worm gear to the second arm assembly to move the second step bracket, and wherein the second worm shaft and the second worm gear are structured to create the reverse self-locking effect; and a control mechanism coupled to communicate with the first motor assembly and the second motor assembly to drive the first arm assembly and the second arm assembly, respectively, in unison and with synchronized motion as the step extends and retracts, wherein the first gear drive assembly includes a first planetary gear drive assembly, and the second gear drive assembly includes a second planetary gear drive assembly, wherein each of the first and second planetary gear drive assemblies includes a plurality of planetary gear wheels that rotate around respective planetary axes, respectively, and an output planet carrier component. 